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公开(公告)号：US20240094727A1
公开(公告)日：2024-03-21
申请号：US18514086
申请日：2023-11-20
Applicant: Waymo LLC
Inventor： Stephanie McArthur , Mark Alexander Shand , Colin Braley
CPC classification number: G05D1/0055 , G01C21/20 , G01S7/40 , G01S7/497 , G01S7/52004 , G05D1/0255 , G05D1/0257 , G05D1/0259
Abstract: An example method involves detecting a sensor-testing trigger. Detecting the sensor-testing trigger may comprise determining that a vehicle is within a threshold distance to a target in an environment of the vehicle. The method also involves obtaining sensor data collected by a sensor of the vehicle after the detection of the sensor-testing trigger. The sensor data is indicative of a scan of a region of the environment that includes the target. The method also involves comparing the sensor data with previously-collected sensor data indicating detection of the target by one or more sensors during one or more previous scans of the environment. The method also involves generating performance metrics related to the sensor of the vehicle based on the comparison.
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公开(公告)号：US20210389763A1
公开(公告)日：2021-12-16
申请号：US17412599
申请日：2021-08-26
Applicant: Waymo LLC
Inventor： Stephanie McArthur , Mark Alexander Shand , Colin Braley
Abstract: An example method involves detecting a sensor-testing trigger. Detecting the sensor-testing trigger may comprise determining that a vehicle is within a threshold distance to a target in an environment of the vehicle. The method also involves obtaining sensor data collected by a sensor of the vehicle after the detection of the sensor-testing trigger. The sensor data is indicative of a scan of a region of the environment that includes the target. The method also involves comparing the sensor data with previously-collected sensor data indicating detection of the target by one or more sensors during one or more previous scans of the environment. The method also involves generating performance metrics related to the sensor of the vehicle based on the comparison.
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公开(公告)号：US11105927B2
公开(公告)日：2021-08-31
申请号：US16204534
申请日：2018-11-29
Applicant: Waymo LLC
Inventor： Mingcheng Chen , Colin Braley , Craig Lewin Robinson , Christian Lauterbach
Abstract: The technology relates to localizing a vehicle. As one approach, a first LIDAR sensor scan data of an environment of the vehicle and localization data for the vehicle at a location where the first LIDAR sensor scan was captured are stored. Thereafter, the computing device is suspended and subsequently unsuspended. After the computing device is unsuspended, second LIDAR sensor scan data of the vehicle's environment is received. The first LIDAR sensor scan data is compared to the second LIDAR sensor scan data to determine whether the vehicle has moved. Based on the determination of whether the vehicle has moved from the location, the stored localization data is used to localize the vehicle. Other approaches are also described.
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公开(公告)号：US20210197854A1
公开(公告)日：2021-07-01
申请号：US17138083
申请日：2020-12-30
Applicant: Waymo LLC
Inventor： Volker Grabe , Colin Braley , Volodymyr Ivanchenko , Alexander Meade
Abstract: Example embodiments relate to identification of proxy calibration targets for a fleet of sensors. An example method includes collecting, using a sensor coupled to a vehicle, data about one or more objects within an environment of the vehicle. The sensor has been calibrated using a ground-truth calibration target. The method also includes identifying, based on the collected data, at least one candidate object, from among the one or more objects, to be used as a proxy calibration target for other sensors coupled to vehicles within a fleet of vehicles. Further, the method includes providing, by the vehicle, data about the candidate object for use by one or more vehicles within the fleet of vehicles.
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公开(公告)号：US11933920B2
公开(公告)日：2024-03-19
申请号：US17437115
申请日：2020-03-13
Applicant: WAYMO LLC
Inventor： Gil Shotan , Luke Wachter , Colin Braley , Christian Lauterbach , Xiaoxiang Hu , Ming Zou
IPC: G01C3/08 , G01S7/481 , G01S7/497 , G01S17/931
CPC classification number: G01S7/497 , G01S7/4813 , G01S7/4814 , G01S17/931 , G01S2007/4977
Abstract: One example method involves obtaining a plurality of scans of a field-of-view (FOV) of a light detection and ranging (LIDAR) device disposed inside a housing. Obtaining each scan of the plurality of scans comprises: transmitting, through a plurality of sections of the housing, a plurality of light pulses emitted from the LIDAR device in different directions toward the housing; and detecting a plurality of returning light pulses comprising reflected portions of the transmitted plurality of light pulses that are reflected back toward the LIDAR device. The method also involves detecting an obstruction that at least partially occludes the LIDAR device from scanning the FOV through the housing based on the plurality of scans.
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Patent Agency Ranking
公开(公告)号：US20230234611A1
公开(公告)日：2023-07-27
申请号：US18193199
申请日：2023-03-30
Applicant: Waymo LLC
Inventor： Volker Grabe , Colin Braley , Volodymyr Ivanchenko , Alexander Meade
CPC classification number: B60W60/001 , G08G1/20 , G01C21/3415 , H04W4/46 , B62D15/021 , G06V20/588 , B60W2420/52 , B60W2554/4049
Abstract: Example embodiments relate to identification of proxy calibration targets for a fleet of sensors. An example method includes collecting, using a sensor coupled to a vehicle, data about one or more objects within an environment of the vehicle. The sensor has been calibrated using a ground-truth calibration target. The method also includes identifying, based on the collected data, at least one candidate object, from among the one or more objects, to be used as a proxy calibration target for other sensors coupled to vehicles within a fleet of vehicles. Further, the method includes providing, by the vehicle, data about the candidate object for use by one or more vehicles within the fleet of vehicles.
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公开(公告)号：US11634153B2
公开(公告)日：2023-04-25
申请号：US17138083
申请日：2020-12-30
Applicant: Waymo LLC
Inventor： Volker Grabe , Colin Braley , Volodymyr Ivanchenko , Alexander Meade
Abstract: Example embodiments relate to identification of proxy calibration targets for a fleet of sensors. An example method includes collecting, using a sensor coupled to a vehicle, data about one or more objects within an environment of the vehicle. The sensor has been calibrated using a ground-truth calibration target. The method also includes identifying, based on the collected data, at least one candidate object, from among the one or more objects, to be used as a proxy calibration target for other sensors coupled to vehicles within a fleet of vehicles. Further, the method includes providing, by the vehicle, data about the candidate object for use by one or more vehicles within the fleet of vehicles.
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公开(公告)号：US11630209B2
公开(公告)日：2023-04-18
申请号：US16506141
申请日：2019-07-09
Applicant: Waymo LLC
Inventor： Mingcheng Chen , Christian Lauterbach , Colin Braley
IPC: G01S17/89 , G05D1/02 , G01S17/931 , G01S17/10 , G01S7/4865 , G06N3/04 , G06N3/08
Abstract: A system includes a light detection and ranging device configured to generate, for each respective point of a plurality of points in an environment, a corresponding waveform that represents physical characteristics of the respective point. The system also includes a signal processor configured to determine, based on the corresponding waveform of each respective point, a map of the environment that includes a representation of a corresponding position of the respective point. The system additionally includes an embedding model configured to determine, for each respective point and based on the corresponding waveform, a corresponding vector comprising a plurality of values representative of the physical characteristics of the respective point. The system further includes a feature detector configured to detect or classify a physical feature based on (i) the corresponding positions of one or more points of the plurality of points and (ii) the corresponding vectors of the one or more points.
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公开(公告)号：US11341684B1
公开(公告)日：2022-05-24
申请号：US17163772
申请日：2021-02-01
Applicant: Waymo LLC
Inventor： Craig Lewin Robinson , Volker Grabe , Colin Braley , Zachary Morriss , Stephanie McArthur , Andrew Crawford
Abstract: The disclosure provides for a method of calibrating a detection system that is mounted on a vehicle. The method includes detecting characteristics of the mirror and characteristics of a vehicle portion using the detection system. The mirror reflects the vehicle portion to be detected using the detection system. The method also includes determining a first transform based on the detected one or more of mirror characteristics, determining a second transform based on the one or more vehicle portion characteristics, and determining a third transform based on a known position of the vehicle portion in relation to the vehicle. Further, the method includes determining a position of the detection system relative to the vehicle based on the first, second, and third transforms and then calibrating the detection system using the determined position of the detection system relative to the vehicle.
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公开(公告)号：US20210356596A1
公开(公告)日：2021-11-18
申请号：US17388199
申请日：2021-07-29
Applicant: Waymo LLC
Inventor： Mingcheng Chen , Colin Braley , Craig Lewin Robinson , Christian Lauterbach
Abstract: The technology relates to localizing a vehicle. As one approach, a first LIDAR sensor scan data of an environment of the vehicle and localization data for the vehicle at a location where the first LIDAR sensor scan was captured are stored. Thereafter, the computing device is suspended and subsequently unsuspended. After the computing device is unsuspended, second LIDAR sensor scan data of the vehicle's environment is received. The first LIDAR sensor scan data is compared to the second LIDAR sensor scan data to determine whether the vehicle has moved. Based on the determination of whether the vehicle has moved from the location, the stored localization data is used to localize the vehicle. Other approaches are also described.
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